JP7202606B2 - self-propelled robot - Google Patents

Description

TECHNICAL FIELD The present invention relates to a self-propelled robot, and more particularly to a self-propelled robot that uses wheels to propel itself on reinforcing bars laid on a construction surface.

In a reinforced concrete structure, reinforcing bars arranged in a lattice are embedded inside concrete walls and floors. In order to fix the rebars arranged in a grid pattern, an operation of binding the intersections of the rebars (also referred to as a rebar binding operation) is performed. Since this work may be performed in a harsh environment, automation is desired. For example, Non-Patent Document 1 discloses a technology of a self-propelled robot (automatic reinforcing bar binding robot) capable of detecting the presence or absence of reinforcing bars.

Hosaka et al., "Development of Automatic Reinforcement Binding Robot - Design and Development of Control System -", The Japan Society of Mechanical Engineers, Robotics and Mechatronics Lecture Summary, 1P2-B03, May 2017

In the technology described in Non-Patent Document 1, a line-spot type photoelectric sensor is installed in a wheel unit of a robot. A laser beam is directed at the rebar used as the rail, and if the reflected light can be detected, it is determined that there is a rebar and the vehicle continues running. and stop running. However, in this structure, for example, even though there is no reinforcing bar, there is a case where the vehicle continues to run under the influence of sunlight, determining that there is a reinforcing bar. It is conceivable to use ultrasonic waves instead of lasers, but it may malfunction due to the influence of the wind even though there are reinforcing bars, such as determining that there are no reinforcing bars and stopping traveling. In this way, in order to detect reinforcing bars, it is desirable to reduce the influence of the external environment.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a self-propelled robot that is less susceptible to the external environment when detecting reinforcing bars.

The invention according to claim 1 is a self-propelled robot that self-propels on reinforcing bars laid on a construction surface using wheels, and has a contactor in front of the wheels as seen in the traveling direction of the wheels. a contact-type reinforcing bar detection device that detects the presence or absence of the reinforcing bar by contacting or releasing the contact between the contactor and the reinforcing bar; and a control unit that stops the self-propelled movement when it is determined that the is not detected.

In addition to the configuration of the self-propelled robot described in claim 1, the invention according to claim 2 is configured so that the lower end of the contactor can come into contact with the reinforcing bar from above, and the control unit includes the contactor. When the lower end of the contact moves below the reinforcing bar, it is determined that the reinforcing bar is not detected. On the other hand, when the lower end of the contactor moves above the reinforcing bar, the reinforcing bar is detected. It is characterized by determining that

The invention according to claim 3 is characterized in that, in addition to the configuration of the self-propelled robot described in claim 1 or 2, the contactor is arranged on the same reinforcing bar as the reinforcing bar on which the wheel runs. and

The invention according to claim 4, in addition to the configuration of the self-propelled robot described in any one of claims 1 to 3, is characterized in that the reinforcing bar detection device is positioned in front of the wheel as viewed in the forward direction of the wheel. and is provided behind the wheel when viewed in the backward direction of the wheel.

The invention according to claim 5 is characterized in that, in addition to the configuration of the self-propelled robot described in any one of claims 1 to 4, the self-propelled robot is a robot for construction work. It is.

According to the self-propelled robot of the invention according to claim 1, the presence or absence of reinforcing bars is detected by the contact-type reinforcing bar detection device, so that it is less likely to be affected by the external environment such as sunlight and wind.
According to the self-propelled robot of the invention according to claim 2, in addition to the effect of the invention according to claim 1, when the lower end of the contact moves above the reinforcing bar, the reinforcing bar is detected. , the self-running is continued. Therefore, for example, it is possible to reliably prevent a malfunction such as stopping traveling when running over a binding wire that has already been bound at an intersection of reinforcing bars.

According to the self-propelled robot of the invention according to claim 3, in addition to the effects of the invention according to claim 1 or 2, there is a positional deviation (for example, about ±1 cm) due to warpage and distortion of the arranged reinforcing bars. Also, since the contactor can move integrally with the wheel along the traveling direction of the wheel, it is possible to reliably cope with the displacement of the reinforcing bar.

According to the self-propelled robot of the invention according to claim 4, in addition to the effects of the invention according to any one of claims 1 to 3, the reinforcing bar detection device is positioned in front of the wheel (for example, the front wheel) and the wheel (for example, the front wheel). The presence or absence of reinforcing bars is detected using the reinforcing bar detectors in front of the wheels on the forward trip of the robot, and the reinforcing bar detectors behind the wheels on the return trip of the robot. can be used to detect the presence or absence of reinforcing bars. Therefore, for example, when bundling adjacent reinforcing bars, the self-propelled robot should be moved parallel to the adjacent reinforcing bars, and the traveling direction should be reversed.

According to the self-propelled robot of the invention according to claim 5, in addition to the effects of the invention according to any one of claims 1 to 4, repetitive construction work and construction work over long distances can be automated. can be achieved cheaply and easily.

It is a figure for explaining the self-propelled robot which is one example of the present invention. It is a top view of a self-propelled robot. It is a figure for demonstrating the structure of a reinforcing bar detection apparatus. (A) is a diagram showing a state in which the roller is running on the reinforcing bar, and (B) is a diagram showing a state in which the roller has reached the end of the reinforcing bar. It is a figure which shows the state which the roller ran over the obstacle. It is an operation flowchart by a self-propelled robot.

Preferred embodiments of the self-propelled robot of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a diagram for explaining a self-propelled robot that is an embodiment of the present invention, and FIG. 2 is a plan view of the self-propelled robot. The self-propelled robot of this embodiment is a robot for construction work, and is, for example, a rebar binding robot 100 configured to be self-propelled by using wheels on rebars laid on a construction surface for pouring concrete.

Specifically, the reinforcing bar binding robot 100 has a frame unit 200 configured by assembling frame members made of aluminum, for example. Assuming that the front left side seen in FIG. 1 (upper side seen in FIG. 2) is the front of the reinforcing bar binding robot 100, a power supply unit 900 is mounted on the front portion of the frame unit 200. As shown in FIG. A power tool holding unit 300 and a drive unit 500 are mounted on the rear side of the power supply unit 900 , and a control unit 400 is mounted on the rear portion of the frame unit 200 .

2, the illustration of the power supply unit 900 and the illustration of the control unit 400 at the rear portion of the frame unit 200 are omitted in order to facilitate understanding of the wheel drive unit 510 and the wheel unit 600, which will be described later.
The power tool holding unit 300 , the control unit 400 , the drive unit 500 , the wheel unit 600 and the like are driven by electric power supplied from the power supply unit 900 .

Below the frame unit 200, a wheel unit 600 that can run on reinforcing bars laid in a grid pattern, more specifically, on the running reinforcing bars LR shown in FIG. 2 is provided. The wheel unit 600 is divided into a left side and a right side when viewed from the rear of the reinforcing rod binding robot 100, and is rotatably supported by the frame unit 200. As shown in FIG.

The left wheel unit 600 has, as shown in FIG. and a ring portion 620 . The front wheel tread surface 612 and the rear wheel tread surface 622 are covered with a ring-shaped belt made of rubber so as to function as a non-slip to the running reinforcing bars LR. The front wheel portion 610 and the rear wheel portion 620 correspond to wheels of the present invention. In this embodiment, an example in which rubber is attached to the outer periphery of a resin wheel has been described, but the wheel of the present invention may be any rotating body, such as a rubber tire.

On the other hand, in the right wheel unit 600, the front wheel portion 610 and the rear wheel portion 620 are formed, for example, in the shape of a drum made of resin, and are wider than the front wheel tread surface 612 and the rear wheel tread surface 622 of the left wheel unit 600. there is
The distance between the left wheel unit 600 and the right wheel unit 600 can be adjusted according to the arrangement interval of the running reinforcing bars LR. Moreover, the right wheel unit 600 can also be configured in the same manner as the left wheel unit 600 .

Like the wheel unit 600, the electric tool holding unit 300 is divided into a left side and a right side when viewed from the rear of the reinforcing rod binding robot 100, and is mounted between the front wheel portion 610 and the rear wheel portion 620 of the wheel unit 600, respectively. be done. The distance of each power tool holding unit 300 can be adjusted according to the arrangement interval of the traveling reinforcing bars LR.
The power tool holding unit 300 is provided with, for example, a reinforcing bar detection sensor (not shown) that can detect the orthogonal reinforcing bar TR by contact, and outputs a predetermined detection signal to the control unit 400 when the orthogonal reinforcing bar TR is detected.

The power tool holding unit 300 is configured such that a handheld power tool BD can be detachably attached thereto, and the power tool BD can be received, for example, from above.
The power tool BD is, for example, a reinforcing bar binding machine “TWINTIER (registered trademark)” (RB-440T) manufactured by Max Co., Ltd., which is a commercial product. The power tool BD corresponds to the reinforcing bar binding machine of the present invention. The power tool BD, as shown in FIG. 1, has an arm AM and a curl guide CG below the trigger BT for binding the intersections of reinforcing bars. When the trigger BT is pulled, a binding wire is passed from the arm AM toward the curl guide CG, and both ends of the binding wire are bundled upward to bind the intersection of the reinforcing bars. The binding wire bound by the power tool BD is stepped on by the rear wheel portion 620 when the moving direction of the reinforcing bar binding robot 100 is forward (the front wheel portion 610 when the moving direction is backward) and is knocked down.

The drive unit 500 includes a wheel drive section 510 that drives the wheel unit 600, and a power tool drive section 520 that vertically moves the power tool BD.
The wheel drive unit 510 is provided, for example, in the left wheel unit 600 . Specifically, as shown in FIG. 2, the transport motor 511 is arranged above the front wheel flange 611 described in FIG. .

The power tool driving section 520 is arranged on the rear side of the power tool holding unit 300 . More specifically, a drive motor 521 capable of reversing, for example, is provided in the case of the electric power tool drive unit 520 . toward the top position. For example, an upper end sensor (not shown) is installed in the case of the power tool driving section 520, and outputs a predetermined detection signal to the control unit 400 when the power tool BD reaches the upper end position. On the other hand, when the drive gear 522 rotates in the opposite direction, the power tool BD moves along the drive rack 523 toward the lower end position. For example, a lower end sensor (not shown) is installed in the case of the power tool driving section 520, and outputs a predetermined detection signal to the control unit 400 when the power tool BD reaches the lower end position.

Further, the power tool driving portion 520 is provided with a trigger drive pin 524 that can come into contact with the trigger BT of the power tool BD from below (FIG. 1). When the power tool BD is lowered and the trigger BT is pushed by the trigger driving pin 524, the trigger BT is pulled.

The control unit 400 has an input section 410, and is configured so that the operator can select the traveling direction of the wheel unit 600, for example, "forward" or "backward." In addition, it is configured such that the binding mode for the intersection of reinforcing bars can be selected, for example, "whole binding" or "zigzag binding". A power switch and a start button for the reinforcing bar binding robot 100 are also installed in the control unit 400 .

The control unit 400 is composed of a CPU, a memory, etc., loads various programs and data stored in the memory, for example, ROM, into the RAM, and executes the various programs to control the operation of the reinforcing rod binding robot 100. be able to. The control unit 400 includes a wheel drive control section 420 that controls the wheel drive section 510 and a power tool control section 430 that controls the power tool drive section 520, as shown in FIG.

The wheel drive control unit 420 has a travel control unit 421 and a forward/backward switching control unit 422 . The traveling control unit 421 starts or stops traveling of the reinforcing bar binding robot 100 based on the detection results of the reinforcing bar detection sensor and the reinforcing bar detection unit 700 . The forward/backward switching control section 422 sets the traveling direction of the wheel unit 600 according to the selection of “forward” or “reverse” of the input section 410 .
The power tool control unit 430 raises or lowers the power tool BD based on the detection results of the upper end sensor and the lower end sensor.

By the way, a reinforcing bar detection unit 700 is installed in the wheel unit 600 on the left side.
The reinforcing bar detection unit 700 corresponds to the contact-type reinforcing bar detection device of the present invention.
Specifically, as shown in FIGS. 1 and 2 , the reinforcing bar detection unit 700 is provided in front of the front wheel flange 611 when viewed in the forward direction of the front wheel portion 610 and rearward when viewed in the backward direction of the rear wheel portion 620 . It is provided behind the ring flange 621 .

FIG. 3 is a diagram for explaining the structure of the reinforcing bar detection unit 700. As shown in FIG.
Note that the reinforcing bar detection unit 700 shown in FIG. 3 is arranged in the vicinity of the front wheel portion 610 (the front wheel portion 610 and the reinforcing bar detection unit 700 shown in FIG. 1 are arranged from the back left of FIG. 1 (the right side of FIG. 2). ) will be described as an example, but the reinforcing bar detection unit 700 arranged near the rear wheel portion 620 is similarly configured.

The reinforcing bar detection unit 700 has an arm support 710 extending vertically. The upper end of the arm support portion 710 is fixed to the frame unit 200, and the lower end of the arm support portion 710 supports a rotating arm 722 so as to be rotatable. A sensor dog 723 made of metal, for example, is provided at a substantially central position of the rotating arm 722 so as to protrude upward.

A proximity sensor 711 capable of detecting the sensor dog 723 in a non-contact manner is arranged above the rotating arm 722 and fixed to, for example, the side surface of the arm support section 710 . A wiring 712 extending from the proximity sensor 711 is electrically connected to the control unit 400 .
A roller 721 is rotatably supported at one end (front end) of the rotating arm 722 . The lower end of the roller 721 can contact the running reinforcing bar LR from above, and can run on the running reinforcing bar LR. The roller 721 corresponds to the contactor of the present invention.

The grounding point of the roller 721 (the point where the roller 721 contacts the running reinforcing bar LR) is arranged on the same running reinforcing bar LR on which the front wheel portion 610 runs, for example.
On the other hand, a spring 724 is installed between the other end (rear end) of the rotating arm 722 and the arm support portion 710 . The spring 724 urges the other end of the rotating arm 722 upward to assist the movement of the sensor dog 723 away from the proximity sensor 711 . At one end (front end) of the rotating arm 722, a reaction force is generated from the running reinforcing bar LR due to the weight of the roller 721 on the running reinforcing bar LR. is set to be smaller than the reaction force of

The proximity sensor 711 is, for example, an eddy current sensor and is composed of a sensor head and a driver. The sensor head can generate a high frequency magnetic flux toward the approaching sensor dog 723 . As the sensor dog 723 approaches this sensor head, the eddy current loss increases and the oscillation amplitude decreases. This oscillation amplitude is rectified, and the distance to the sensor dog 723 is detected by the change in DC voltage.

The control unit 400 determines whether or not there is a sensor dog 723 in front of the proximity sensor 711 . When it is determined that the sensor dog 723 is in front of the proximity sensor 711, the wheel unit 600 continues running. On the other hand, when it is determined that there is no sensor dog 723 in front of the proximity sensor 711 , the wheel unit 600 is stopped from traveling via the traveling control section 421 .
Although an example in which the proximity sensor 711 is mounted has been described, the contact-type reinforcing bar detection device of the present invention does not detect the running reinforcing bar LR itself, but rather detects the sensor dog 723 of the rotating arm 722. , a photomicrosensor (optical sensor) may be mounted, or a mechanical switch such as a microswitch may be mounted.

FIG. 4A is a diagram showing a state in which the rollers 721 are running on reinforcing bars.
Assuming that the wheel unit 600 is moving forward on the running reinforcing bar LR (the front wheel portion 610 is moving rightward in FIG. 3), the reinforcing bar detecting unit 700 near the front wheel portion 610 is shown in FIG. As shown, the roller 721 rotates clockwise in the figure on the running reinforcing bar LR.
When the roller 721 is on the running reinforcing bar LR and the roller 721 and the running reinforcing bar LR are in contact with each other, the reaction force from the running reinforcing bar LR to the roller 721 is larger than the biasing force of the spring 724 . , a force is applied to rotate counterclockwise in the drawing, and the sensor dog 23 does not leave the front of the proximity sensor 711 . As a result, the eddy current loss increases and the oscillation amplitude decreases, so the control unit 400 determines that the running reinforcing bar LR is detected (there is a reinforcing bar) by the contact between the roller 721 and the running reinforcing bar LR. As a result, the self-running of the reinforcing bar binding robot 100 is continued.

Subsequently, when the front wheel portion 610 further advances in the right direction in FIG. When the lower end moves below the top position of the running reinforcing bar LR), the reaction force from the running reinforcing bar LR to the roller 721 disappears. Therefore, the weight of the roller 721 and the biasing force of the spring 724 act on the rotating arm 722 to rotate it clockwise as shown in the drawing. away from the front As a result, the eddy current loss decreases and the oscillation amplitude increases, so the control unit 400 determines that the running reinforcing bar LR is not detected (no reinforcing bar). As a result, the self-running of the reinforcing bar binding robot 100 is stopped.

Since the contact-type reinforcing bar detection unit 700 detects the running reinforcing bar LR and the reinforcing bar end portion RG in this manner, it is less likely to be affected by the external environment such as sunlight and wind.
In this embodiment, the example in which the roller 721 and the front wheel portion 610 are arranged on the same running reinforcing bar LR has been described. However, it is also possible to locate the roller 721 on a running reinforcing bar LR other than the running reinforcing bar LR with which the front wheel portion 610 contacts (for example, an adjacent running reinforcing bar LR) to detect the reinforcing bar end portion RG.

FIG. 5 is a diagram showing a state in which the roller 721 runs over an obstacle.
The intersection of the running reinforcing bar LR and the orthogonal reinforcing bar TR may be temporarily fixed like the reinforcing bar binding portion RU before binding using the reinforcing bar binding robot 100 . In the same manner as described above, the wheel unit 600 moves forward on the running reinforcing bar LR, and the roller 721 rotates clockwise in the drawing to run on the running reinforcing bar LR. As shown in FIG. When the roller 721 runs over the portion RU (when the lower end of the roller 721 moves above the top position of the running reinforcing bar LR), the reaction force from the reinforcing bar binding portion RU to the roller 721 is larger than the biasing force of the spring 724. A force is applied to the rotating arm 722 to rotate it counterclockwise as shown in the figure, and the sensor dog 723 does not move away from the front of the proximity sensor 711 . Since the oscillation amplitude remains small, the control unit 400 determines that the running reinforcing bar LR is detected. As a result, the self-running of the reinforcing bar binding robot 100 is continued.

In this way, when the roller 721 runs over an obstacle such as the reinforcing bar binding portion RU, it is determined that the traveling reinforcing bar LR is detected, so the traveling is continued. Therefore, it is possible to reliably prevent malfunction such as stopping the running when running on the reinforcing bar binding portion RU or the like.

In the concrete work, first, a spacer (not shown) is arranged on the construction surface on which concrete is placed, and orthogonal reinforcing bars TR are arranged on the spacer at predetermined intervals. Next, the running reinforcing bars LR are arranged at predetermined intervals on the orthogonal reinforcing bars TR. As a result, the running reinforcing bars LR and the orthogonal reinforcing bars TR are laid in a grid pattern.
Subsequently, the reinforcing bar binding robot 100 is lifted, and the left wheel unit 600 having the front wheel flange 611 and the rear wheel flange 621 and the reinforcing bar detection unit 700 are placed, for example, on the traveling reinforcing bar LR located at the left end. At this time, the right wheel unit 600 is placed, for example, on the third running reinforcing bar LR counted from the leftmost running reinforcing bar LR.

The worker turns on the power switch of the reinforcing bar binding robot 100 and selects, for example, "forward" as the direction of travel through the input unit 410. FIG. If all the intersections are desired to be bound, the binding mode is selected as "all binding" and then the start button is pressed (step S1 in FIG. 6).
When the control unit 400 receives the detection signal from the upper end sensor (YES in step S2), it determines that the power tool BD has reached the upper end position, and proceeds to step S4. When the detection signal from the upper end sensor is not received (NO in step S2), the power tool driving section 520 raises the power tool BD (step S3), and the process returns to step S2.

In step S4, the conveying motor 511 is driven (step S4) to move the reinforcing bar binding robot 100 forward.
Next, when the reinforcing bar detection unit 700 detects the reinforcing bar end portion RG before a predetermined period elapses from the start of driving of the transport motor 511 , for example, it outputs a predetermined detection signal to the control unit 400 . On the other hand, if the control unit 400 does not receive the detection signal from the reinforcing bar detection unit 700 (NO in step S5), the reinforcing bar binding robot 100 continues moving forward.

Subsequently, when the control unit 400 receives the detection signal from the reinforcing bar detection sensor (YES in step S6), it is determined that the reinforcing bar binding robot 100 has reached the intersection of the traveling reinforcing bar LR and the orthogonal reinforcing bar TR. Proceed to S7. On the other hand, if the control unit 400 does not receive the detection signal from the reinforcing bar detection sensor (NO in step S5), the process returns to step S4 and the reinforcing bar binding robot 100 continues moving forward.

In step S7, the control unit 400 determines whether or not the binding mode is selected as "zigzag binding". As described above, the input unit 410 selects the binding mode as "full binding", so the process proceeds to step S9. The operator wishes to bind all intersections and should have selected "all binding" in the input unit 410. However, if the binding mode is selected as "zigzag binding" ( YES in step S7), set "skip one bit OFF" (step S8), and proceed to step S9.

In step S9, the driving of the transport motor 511 is stopped, and the forward movement of the reinforcing bar binding robot 100 is stopped.
At this time, since the power tool BD is positioned above the intersection of the traveling reinforcing bar LR and the orthogonal reinforcing bar TR, the power tool driving section 520 lowers the power tool BD (step S10). When the control unit 400 does not receive the detection signal from the lower end sensor (NO in step S11), the process returns to step S10 to lower the power tool BD. On the other hand, when the detection signal from the lower end sensor is received (YES in step S11), a predetermined timer is started so that the electric power tool BD can bind the intersections of the traveling reinforcing bars LR and the orthogonal reinforcing bars TR (step S12). .

When the control unit 400 determines that, for example, 1.2 seconds have elapsed since the timer was started (YES in step S12), it drives the power tool driving section 520 to raise the power tool BD (step S13).
Thereafter, when the control unit 400 receives the detection signal from the upper end sensor (YES in step S14), it determines that the power tool BD has reached the upper end position, and stops driving the drive motor 521 (step S15). , the process returns to step S4.

As a result, the transport motor 511 is driven (step S4), and the reinforcing bar binding robot 100 moves forward. When the control unit 400 has received the detection signal from the reinforcing bar detection unit 700 (YES in step S5), it determines that the reinforcing bar binding robot 100 has reached the reinforcing bar terminal end RG, proceeds to step S16, and starts the conveying motor 511 and the like. Stops all driving of and exits a series of routines.

The operator lifts the reinforcing bar binding robot 100 in this direction, and counts the left wheel unit 600 and the reinforcing bar detection unit 700 from the next traveling reinforcing bar LR, that is, the traveling reinforcing bar LR located at the left end. It is placed on the second running reinforcing bar LR. As a result, the right wheel unit 600 is also placed on the next running reinforcing bar LR, that is, the fourth running reinforcing bar LR counted from the leftmost running reinforcing bar LR.

Then, when the operator turns on the power switch of the reinforcing bar binding robot 100, selects, for example, "retreat" as the traveling direction using the input unit 410, and presses the start button, the reinforcing bar binding robot 100 moves the power tool BD to the upper end position. Make sure you've reached it, then retreat.
In this way, the reinforcing bar binding robot 100 can be placed on the adjacent traveling reinforcing bar LR without changing its orientation, and can reverse the traveling direction (also called cattle plowing). Therefore, the operator can easily place the reinforcing bar binding robot 100 on the adjacent traveling reinforcing bar LR.

In the above embodiment, an example of the reinforcing bar binding robot 100 has been described. However, the invention is not limited to this example. Since it is only necessary to have a contact-type reinforcing bar detection device, the present invention may be applied to, for example, a robot for checking bar arrangement, a robot for carrying reinforcing bars, or a robot for construction work, such as a robot for leveling concrete. can be applied to

DESCRIPTION OF SYMBOLS 100... Reinforcement binding robot 200... Frame unit 300... Electric tool holding unit 400... Control unit 410... Input part 420... Wheel drive control part 421... Travel control part 422 ... forward/backward switching control section 430 ... electric tool control section 500 ... drive unit 510 ... wheel drive section 511 ... conveyance motor 512 ... transmission belt 520 ... electric tool drive section 521 Drive motor 522 Drive gear 523 Drive rack 524 Trigger drive pin 600 Wheel unit 610 Front wheel portion 611 Front wheel flange 612 Front wheel tread 620 Rear wheel portion 621 Rear wheel flange 622 Rear wheel tread 700 Rebar detection unit 710 Arm support 711 Proximity sensor 712 Wiring 721 Roller 722 ... Rotating arm 723 ... Sensor dog 724 ... Spring 900 ... Power supply unit BD ... Electric tool BT ... Trigger AM ... Arm CG ... Curl guide LR ... Traveling reinforcing bar TR・・・ Orthogonal reinforcing bar RU ・・・ Reinforcing bar binding part RG ・・・ Reinforcing bar end part

Claims (5)

A self-propelled robot that self-propelled on a reinforcing bar laid on a construction surface using wheels,
a contact-type reinforcing bar detection device having a contact in front of the wheel when viewed in the traveling direction of the wheel, and detecting the presence or absence of the reinforcing bar by contacting or releasing the contact between the contact and the reinforcing bar;
A self-propelled robot, comprising: a control unit that continues self-propelled movement when it is determined that the reinforcing bar is detected, and stops self-propelled movement when it is determined that the reinforcing bar is not detected. The lower end of the contact is configured to be able to contact the reinforcing bar from above,
The control unit determines that the reinforcing bar is not detected when the lower end of the contactor moves below the reinforcing bar, whereas the control unit determines that the lower end of the contactor does not detect the reinforcing bar when the lower end of the contactor moves above the reinforcing bar. 2. The self-propelled robot according to claim 1, wherein it determines that said reinforcing bar is detected. 3. The self-propelled robot according to claim 1, wherein the contactor is arranged on the same reinforcing bar as the reinforcing bar on which the wheel runs. 4. The reinforcing bar detection device according to any one of claims 1 to 3, wherein the reinforcing bar detection device is provided in front of the wheel when viewed in the forward direction of the wheel, and is provided behind the wheel when viewed in the backward direction of the wheel. 1. Self-propelled robot according to claim 1. The self-propelled robot according to any one of claims 1 to 4, wherein the self-propelled robot is a robot for construction work.

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